This paper presents a decentralized hybrid supervisory control approach for a team of unmanned helicopters that are involved in a leader-follower formation mission. Using a polar partitioning technique, the motion dynamics of the follower helicopters are abstracted to finite state machines. Then, a discrete supervisor is designed in a modular way for different components of the formation mission including reaching the formation, keeping the formation, and collision avoidance. Furthermore, a formal technique is developed to design the local supervisors decentralizedly, so that the team of helicopters as whole, can cooperatively accomplish a collision-free formation task.
@article{arxiv.1403.0258,
title = {Decentralized Hybrid Formation Control of Unmanned Aerial Vehicles},
author = {Ali Karimoddini1 and Mohammad Karimadini and Hai Lin},
journal= {arXiv preprint arXiv:1403.0258},
year = {2014}
}